diff --git a/scans/black_sprocket/converted/.dataset_manifest.lock b/scans/black_sprocket/converted/.dataset_manifest.lock new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/scans/black_sprocket/converted/README.md b/scans/black_sprocket/converted/README.md new file mode 100644 index 0000000000000000000000000000000000000000..90e61b81100ad0780fa5b4c30f6abc8ae17c313a --- /dev/null +++ b/scans/black_sprocket/converted/README.md @@ -0,0 +1,26 @@ +# Converted Robotics Dataset + +This dataset stores authoritative timestamps and metadata in Parquet tables and +stores frame payloads in video containers. Video presentation timestamps are not +used for synchronization; use `tables/frames.parquet` and `video_frame_idx`. + +Core loading rule: + +```text +decoded video frame k == frames.parquet row where video_frame_idx == k +``` + +Useful files: + +- `dataset_manifest.parquet`: converted sessions in this dataset root +- `sessions//metadata/streams.parquet`: stream IDs and modalities +- `sessions//metadata/videos.parquet`: stream-to-video mapping +- `sessions//tables/frames.parquet`: authoritative timestamps, + frame indices, clock domains, and hashes +- `sessions//tables/robot_states.parquet`: robot states, if present +- `sessions//metadata/calibration.json`: calibration and transform + conventions +- `sessions//metadata/validation_report.json`: validation status + +Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible +decoders. 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sha256:fc17af7fefe1fb8caad1c8a97485261597c39bb486674c1d7f28ca61a884c990 +size 4013120 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/images/009109.png b/scans/black_sprocket/recon/black_sprocket_v1/images/009109.png new file mode 100644 index 0000000000000000000000000000000000000000..1399c0a1eac9dfc756f3892f22febbcf6e347286 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/images/009109.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bd6fc9d9aae7565fb6f481d379d323a5c304af873cb5fe3b0c671ca1c085ccad +size 3945829 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/images/009246.png b/scans/black_sprocket/recon/black_sprocket_v1/images/009246.png new file mode 100644 index 0000000000000000000000000000000000000000..23b050c07c014e7bc429e7968e9f250dd0804ab9 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/images/009246.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5fc39bd450f6d753f3037eae9029245fab89f486f03ccf5f881351c092eb2f2 +size 4100335 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/images/009269.png b/scans/black_sprocket/recon/black_sprocket_v1/images/009269.png new file mode 100644 index 0000000000000000000000000000000000000000..d20f1ad9207145e5d6d7fe692ee41e12bb11bad7 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/images/009269.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:290cf7ac05c0389954e10ec1909af6199faf7cbcf3f31d1f177be3763f78e5e2 +size 4035650 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/cameras.txt b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..54082a99813174caf01016c8e3cc5827c6216ccb --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 2208 1242 1462.4522705078125 1462.4522705078125 1172.2921142578125 609.0177001953125 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/frames.txt b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/frames.txt new file mode 100644 index 0000000000000000000000000000000000000000..aac2746c3c710339bbfbb0e99251a338dab13199 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/frames.txt @@ -0,0 +1,1057 @@ +# Frame list with one line of data per frame: +# FRAME_ID, RIG_ID, RIG_FROM_WORLD[QW, QX, QY, QZ, TX, TY, TZ], NUM_DATA_IDS, DATA_IDS[] as (SENSOR_TYPE, SENSOR_ID, DATA_ID) +# Number of frames: 1054 +1 1 0.99791739388911027 -0.0010961650060773008 0.059006238968398343 -0.026037226400869674 0.83338103661560503 -2.1207810889016976 4.3017267836106505 1 CAMERA 1 1 +2 1 0.99775392547952346 -0.0011939830528854593 0.061711292643019014 -0.026026812232748886 0.85833810289978141 -2.1205258593082905 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1 0.99796159898022108 -0.00068574287917934676 0.058091113935275773 -0.02641210327298768 0.82372291376269724 -2.124566317792421 4.3017187344144601 1 CAMERA 1 9 +10 1 0.98135666040719371 -0.0047436822630025788 0.19085367605366188 -0.022169278062930384 1.0104363962554419 -2.1209916931129 4.2157983089399051 1 CAMERA 1 10 +11 1 0.99604433251559765 -0.0018266048496449047 0.08548434203218816 -0.024182192737728935 0.92873726937896417 -2.1205615264988458 4.3431374396999516 1 CAMERA 1 11 +12 1 0.98765258139117473 -0.0040363875488391345 0.15491480159507159 -0.022967156847646102 0.83482581170679693 -2.1199437537279917 4.2543717667160106 1 CAMERA 1 12 +13 1 0.98897444817374736 -0.0035856839897996655 0.14616924514110846 -0.023478405070101425 0.80524301152343214 -2.1193835988400638 4.2514008593250114 1 CAMERA 1 13 +14 1 0.97713548344035095 -0.0053090542364784025 0.21138514911319445 -0.022234650419971583 0.94770025411833603 -2.1186462459164188 4.2023338704996904 1 CAMERA 1 14 +15 1 0.97361481989138421 -0.0051610412471497806 0.22689684763066759 -0.02377744049258582 0.99807801570803412 -2.123879642407132 4.1959000614401125 1 CAMERA 1 15 +16 1 0.97061014435808912 -0.0062725405334543658 0.2396078452963093 -0.021556515880016842 1.1130421795114489 -2.1185026751103671 4.1772155709761654 1 CAMERA 1 16 +17 1 0.97892608386268543 -0.0045280146958811569 0.20250707372210583 -0.025963522655645929 0.65665869554424716 -2.1227641967102726 4.23340929480909 1 CAMERA 1 17 +18 1 0.9652698599898285 -0.0050433327030839827 0.26000206442527857 -0.025051720201540593 1.1662638431060466 -2.1324424344694033 4.1663787832505408 1 CAMERA 1 18 +19 1 0.98566540317692375 -0.0029844692061528808 0.16700267207444891 -0.02376790785121418 0.32016377062172063 -2.1219058287508741 4.250920354274963 1 CAMERA 1 19 +20 1 0.95753994456322222 -0.0075358031188346268 0.28739860419359725 -0.021506011828963948 0.90180745760625214 -2.1191586422879634 3.8346441169109191 1 CAMERA 1 20 +21 1 0.96092096583773456 -0.0064865273944315661 0.27564211232724589 -0.02470320399483936 0.82590302969552454 -2.1209209734894552 3.9274275916652983 1 CAMERA 1 21 +22 1 0.96619920908675039 -0.0063348076767760098 0.25680484242507773 -0.021684821393487083 0.64889851715216973 -2.125584013343683 3.8587299812356686 1 CAMERA 1 22 +23 1 0.94727863115471045 -0.0074090956518506994 0.31943461007425389 -0.023871115306769226 0.91920794432245501 -2.1256464831217978 3.8535866789952182 1 CAMERA 1 23 +24 1 0.95817306770505484 -0.0068158811668801297 0.28502722698187005 -0.024847453946615902 0.83114067188934515 -2.1203629632861065 3.9072486062011826 1 CAMERA 1 24 +25 1 0.92821177635411278 -0.0085288780651250028 0.37123541910782054 -0.023117527470162665 1.0394822235200813 -2.1264469314422687 3.7500545933723841 1 CAMERA 1 25 +26 1 0.95979758089289946 -0.0059303728871499817 0.27955190659864704 -0.024579786545428181 0.86160553193156519 -2.1262936533376817 3.9160839417955255 1 CAMERA 1 26 +27 1 0.94085604725947314 -0.0076595973666158425 0.33789485843357714 -0.023628236235790204 0.98350843085379935 -2.1240436115023971 3.8291716651424896 1 CAMERA 1 27 +28 1 0.92199917424998479 -0.0088702064321651165 0.38640464076472236 -0.023028150505041277 1.0520513605486717 -2.1266635529778624 3.7277854860941688 1 CAMERA 1 28 +29 1 0.91707645621632294 -0.0096662557207325469 0.39797379855245812 -0.022230443535376242 0.99252574753685796 -2.1253750468237489 3.7150488895051703 1 CAMERA 1 29 +30 1 0.90857273260399796 -0.009605327821861227 0.41700249670701722 -0.02263282982865248 1.0005702830255567 -2.1219885534051532 3.7162084824855817 1 CAMERA 1 30 +31 1 0.93490588679769182 -0.0081085168763348828 0.35403940187675909 -0.023266643587643829 1.0193613065034297 -2.1238739542460516 3.7946048171815314 1 CAMERA 1 31 +32 1 0.91373192682823579 -0.0095739455868844754 0.40559039242685696 -0.022332465866695121 0.98541260715762424 -2.1219652408631875 3.7145940283965264 1 CAMERA 1 32 +33 1 0.90190371306627415 -0.010229975793915104 0.43127300449792239 -0.021647991681885369 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1 0.86234292803100143 -0.012273924475526436 0.50570271651957333 -0.021881219289892413 -1.7043782878813529 -2.1097975006686283 3.0229766689705859 1 CAMERA 1 1064 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/rigs.txt b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/rigs.txt new file mode 100644 index 0000000000000000000000000000000000000000..4d359770a6ab76c1e7cb95c8ee09923085a311f5 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/sparse/0/rigs.txt @@ -0,0 +1,4 @@ +# Rig calib list with one line of data per calib: +# RIG_ID, NUM_SENSORS, REF_SENSOR_TYPE, REF_SENSOR_ID, SENSORS[] as (SENSOR_TYPE, SENSOR_ID, HAS_POSE, [QW, QX, QY, QZ, TX, TY, TZ]) +# Number of rigs: 1 +1 1 CAMERA 1 diff --git a/scans/black_sprocket/recon/black_sprocket_v1/stereo/calibration.json b/scans/black_sprocket/recon/black_sprocket_v1/stereo/calibration.json new file mode 100644 index 0000000000000000000000000000000000000000..7823cb16889c344a5d052d26a719f4243f66f777 --- /dev/null +++ b/scans/black_sprocket/recon/black_sprocket_v1/stereo/calibration.json @@ -0,0 +1,13 @@ +{ + "fx": 1462.4522705078125, + "fy": 1462.4522705078125, + "cx": 1172.2921142578125, + "cy": 609.0177001953125, + "baseline_m": 0.06304030865430832, + "width": 2208, + "height": 1242, + "left_stream_id": "zed_12933256_left_rgb", + "right_stream_id": "zed_12933256_right_rgb", + "session": "/home/shaunak/reconstruction/scans/black_sprocket/converted/sessions/session_20261105_153317_177224", + "frames": 1064 +} \ No newline at end of file